rename subprojects

9 files changed, 514 insertions, 0 deletions

diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/Environment.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/Environment.scala
new file mode 100644
index 0000000..d4dd306
--- /dev/null
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/Environment.scala
@@ -0,0 +1,14 @@
+package vfd.dashboard
+
+import org.scalajs.dom.HTMLElement
+
+/** Represents an application's environment */
+trait Environment {
+  
+  /** The application's root element. */
+  def root: HTMLElement
+
+  /** Retrieve an asset's URL based on its file location. */
+  def asset(file: String): String
+
+}
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/Launcher.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/Launcher.scala
new file mode 100644
index 0000000..6a9ba82
--- /dev/null
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/Launcher.scala
@@ -0,0 +1,34 @@
+package vfd.dashboard
+
+import scala.scalajs.js.annotation.JSExport
+
+import org.scalajs.dom
+
+@JSExport("Launcher")
+class Launcher(rootId: String, assetsBase: String) {
+
+  lazy val env = new Environment {
+    val root = dom.document.getElementById(rootId)
+    def asset(file: String) = assetsBase + "/" + file
+  }
+
+  @JSExport
+  def main() = {
+    import env._
+
+    val args: Seq[(String, String)] = for (
+      i <- 0 until root.attributes.length;
+      attr = root.attributes.item(i);
+      if attr.name.startsWith("data-")
+    ) yield {
+      attr.name.drop(5) -> attr.value
+    }
+
+    while (env.root.hasChildNodes) {
+      env.root.removeChild(env.root.firstChild)
+    }
+    
+    Main.main(args.toMap)(env)
+  }
+
+}
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/Main.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/Main.scala
new file mode 100644
index 0000000..36ca2db
--- /dev/null
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/Main.scala
@@ -0,0 +1,13 @@
+package vfd.dashboard
+
+import vfd.dashboard.ui.Layout
+
+object Main {
+
+  def main(args: Map[String, String])(implicit env: Environment) = {
+    val socket = new MavlinkSocket(args("socketurl"), args("remotesystemid").toInt)
+    val layout = new Layout(socket)
+
+    env.root.appendChild(layout.element)
+  }
+}
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/MavlinkSocket.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/MavlinkSocket.scala
new file mode 100644
index 0000000..162ca64
--- /dev/null
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/MavlinkSocket.scala
@@ -0,0 +1,65 @@
+package vfd.dashboard
+
+import scala.scalajs.js
+import scala.scalajs.js.Any.fromFunction1
+
+import org.mavlink.Packet
+import org.mavlink.Parser
+import org.mavlink.messages.Message
+import org.scalajs.dom
+
+import rx.core.Rx
+import rx.core.Var
+import rx.ops.RxOps
+
+class MavlinkSocket(url: String, remoteSystemId: Int) {
+
+  lazy val packet: Var[Packet] = Var(Packet.Empty)
+  lazy val message: Rx[Message] = packet.map{p => 
+    Message.unpack(p.messageId, p.payload)
+  }
+
+  object stats {
+    val crcErrors = Var(0)
+    val overflows = Var(0)
+    val wrongIds = Var(0)
+    val packets = Var(0)
+    val open = Var(false)
+  }
+
+  private val parser = new Parser(
+    pckt => {
+      pckt match {
+        case Packet(seq, `remoteSystemId`, compId, msgId, payload) =>
+          packet() = pckt
+          stats.packets() += 1
+        case _ =>
+          stats.wrongIds() += 1
+      }
+    },
+    err => {
+      err match {
+        case Parser.ParseErrors.CrcError => stats.crcErrors() += 1
+        case Parser.ParseErrors.OverflowError => stats.overflows() += 1
+      }
+    })
+
+  private val connection = new dom.WebSocket(url)
+
+  connection.binaryType = "arraybuffer";
+  connection.onopen = (e: dom.Event) => {
+    stats.open() = true
+  }
+  connection.onmessage = (e: dom.MessageEvent) => {
+    val buffer = e.data.asInstanceOf[js.typedarray.ArrayBuffer]
+    val view = new js.typedarray.DataView(buffer)
+
+    for (i <- 0 until view.byteLength) {
+      parser.push(view.getInt8(i))
+    }
+  }
+  connection.onclose = (e: dom.CloseEvent) => {
+    stats.open() = false
+  }
+
+}
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala
new file mode 100644
index 0000000..29ca4ca
--- /dev/null
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/Layout.scala
@@ -0,0 +1,57 @@
+package vfd.dashboard.ui
+
+import org.scalajs.dom.HTMLElement
+
+import scalatags.JsDom.all.ExtendedString
+import scalatags.JsDom.all.bindNode
+import scalatags.JsDom.all.`class`
+import scalatags.JsDom.all.div
+import scalatags.JsDom.all.height
+import scalatags.JsDom.all.iframe
+import scalatags.JsDom.all.p
+import scalatags.JsDom.all.src
+import scalatags.JsDom.all.stringAttr
+import scalatags.JsDom.all.stringFrag
+import scalatags.JsDom.all.stringStyle
+import scalatags.JsDom.all.style
+import scalatags.JsDom.all.width
+import vfd.dashboard.Environment
+import vfd.dashboard.MavlinkSocket
+import vfd.dashboard.ui.panels.Communication
+import vfd.dashboard.ui.panels.Primary
+
+class Layout(socket: MavlinkSocket) {
+
+  val map = iframe(
+    width := "100%",
+    height := "350px",
+    "frameborder".attr := "0",
+    "scrolling".attr := "no",
+    "marginheight".attr := "0",
+    "marginwidth".attr := "0",
+    src := "http://www.openstreetmap.org/export/embed.html?bbox=6.5611016750335684%2C46.51718501017836%2C6.570038795471191%2C46.520577350893525&amp;layer=mapnik")
+
+  val feed = div(style := "width: 100%; height: 460px; color: #ffffff; background-color: #c2c2c2; text-align: center;")(
+    p(style := "padding-top: 220px")("video feed"))
+
+  def element(implicit env: Environment): HTMLElement = div(`class` := "container-fluid")(
+    div(`class` := "row")(
+      div(`class` := "col-xs-12")(
+        div(`class` := "panel panel-default")(
+          div(`class` := "panel-body")()))),
+    div(`class` := "row")(
+      div(`class` := "col-xs-4")(
+        div(`class` := "panel panel-default")(
+          div(`class` := "panel-body")(
+            map))),
+      div(`class` := "col-xs-5")(
+        div(`class` := "panel panel-default")(
+          div(`class` := "panel-body")(
+            feed)),
+        div(`class` := "panel panel-default")(
+          div(`class` := "panel-body")(Primary(socket)))),
+      div(`class` := "col-xs-3")(
+        div(`class` := "panel panel-default")(
+          div(`class` := "panel-body")(Communication(socket)))))).render
+
+}
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/components/SvgInstrument.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/components/SvgInstrument.scala
new file mode 100644
index 0000000..8ddba1a
--- /dev/null
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/components/SvgInstrument.scala
@@ -0,0 +1,55 @@
+package vfd.dashboard.ui.components
+
+import scala.scalajs.js.Any.fromFunction1
+
+import org.scalajs.dom
+
+import scalatags.JsDom.all.ExtendedString
+import scalatags.JsDom.all.`object`
+import scalatags.JsDom.all.stringAttr
+import scalatags.JsDom.all.stringFrag
+import scalatags.JsDom.all.stringStyle
+import scalatags.JsDom.all.`type`
+import scalatags.JsDom.all.width
+import vfd.dashboard.Environment
+
+trait SvgInstrument[A] {
+  
+  /** SVG object element that contains the rendered instrument */
+  def element: dom.HTMLObjectElement
+  
+  /** Actual svg document */
+  protected def content: dom.Document = element.contentDocument
+  
+  /** Moveable parts of the instrument */
+  protected def moveable: Seq[dom.HTMLElement]
+  
+  /** Updates the instrument to show a new value */
+  def update(value: A): Unit
+  
+  protected def load(event: dom.Event): Unit = {
+    for (part <- moveable) {
+      part.style.transition = "transform 250ms ease-out"
+    }
+  }
+  
+  element.addEventListener("load", (e: dom.Event) => load(e))
+}
+
+object SvgInstrument {
+
+  def svg(name: String)(implicit app: Environment): dom.HTMLObjectElement = {
+    val path = app.asset("images/instruments/" + name + ".svg")
+    `object`(`type` := "image/svg+xml", "data".attr := path, width := "100%")(
+      "Error loading instrument " + name).render
+  }
+
+  def translate(elem: dom.HTMLElement, x: Int, y: Int): Unit = {
+    elem.style.transform = "translate(" + x + "px, " + y + "px)";
+  }
+
+  def rotate(elem: dom.HTMLElement, deg: Int): Unit = {
+    elem.style.transform = "rotateZ(" + deg + "deg)";
+  }
+
+}
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/components/instruments.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/components/instruments.scala
new file mode 100644
index 0000000..1cde83c
--- /dev/null
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/components/instruments.scala
@@ -0,0 +1,124 @@
+package vfd.dashboard.ui.components
+
+import org.scalajs.dom
+
+import scalatags.JsDom.all.ExtendedString
+import scalatags.JsDom.all.`object`
+import scalatags.JsDom.all.stringAttr
+import scalatags.JsDom.all.stringFrag
+import scalatags.JsDom.all.stringStyle
+import scalatags.JsDom.all.`type`
+import scalatags.JsDom.all.width
+import vfd.dashboard.Environment
+
+class Led(implicit env: Environment) extends SvgInstrument[String] {
+  lazy val element = `object`(`type` := "image/svg+xml", "data".attr := env.asset("images/leds/led.svg"), width := "100%")(
+      "Error loading led.").render
+  
+  def update(color: String) = {
+    content.getElementById("light").setAttribute("fill", color)
+  }
+  
+  protected def moveable = Seq()
+  
+}
+
+class Horizon(implicit env: Environment) extends SvgInstrument[(Double, Double)] {
+  lazy val element = SvgInstrument.svg("horizon")
+  
+  def pitch = content.getElementById("pitch")
+  def roll = content.getElementById("roll")
+  protected def moveable = Seq(pitch, roll)
+  
+  def update(pitchRoll: (Double, Double)) = {
+    SvgInstrument.translate(pitch, 0, pitchRoll._1.toInt)
+    SvgInstrument.rotate(roll, pitchRoll._2.toInt)
+  }
+}
+
+class Altimeter(implicit env: Environment) extends SvgInstrument[Double] {
+  lazy val element = SvgInstrument.svg("altimeter")
+  
+  def hand = content.getElementById("hand")
+  protected def moveable = Seq(hand)
+  
+  // 36deg === 1m
+  def update(altitude: Double) = {
+    SvgInstrument.rotate(hand, (altitude * 36).toInt)
+  }
+}
+
+class Compass(implicit env: Environment) extends SvgInstrument[Double] {
+  lazy val element = SvgInstrument.svg("compass")
+  
+  def plate = content.getElementById("heading")
+  protected def moveable = Seq(plate)
+  
+  def update(heading: Double) = {
+    SvgInstrument.rotate(plate, heading.toInt)
+  }
+}
+
+class Generic(
+    min: Double,
+    med: Double,
+    max: Double,
+    unit: String)(implicit env: Environment) extends SvgInstrument[Double] {
+  
+  lazy val element = SvgInstrument.svg("generic")
+  
+  def handElement = content.getElementById("hand")
+  def unitElement = content.getElementById("unit")
+  def valueElement = content.getElementById("value")
+  def minElement = content.getElementById("min")
+  def medElement = content.getElementById("med")
+  def maxElement = content.getElementById("max")
+  protected def moveable = Seq(handElement)
+  
+  override protected def load(e: dom.Event) = {
+    unitElement.textContent = unit
+    minElement.textContent = min.toString
+    medElement.textContent = med.toString
+    maxElement.textContent = max.toString
+    update(min)
+    super.load(e)
+  }
+
+  def update(value: Double) = {
+    SvgInstrument.rotate(handElement, (value * 270 / (max - min)).toInt)
+    valueElement.textContent = value.toString
+  }
+}
+ 
+class Bar(implicit env: Environment) extends SvgInstrument[Double] {
+  
+  lazy val element = SvgInstrument.svg("bar")
+  
+  def level = content.getElementById("level")
+  protected def moveable = Seq(level)
+  
+  def update(value: Double) = {
+    SvgInstrument.translate(level, 0, (97 * (1 - value / 100)).toInt)
+  }
+  
+}
+
+class Balance(implicit env: Environment) extends SvgInstrument[(Double, Double, Double, Double)] {
+  lazy val element = SvgInstrument.svg("balance")
+  
+  def position = content.getElementById("position")
+  protected def moveable = Seq(position)
+  
+  def update(value: (Double, Double, Double, Double)) = {
+    val m0 = value._1
+    val m1 = value._2
+    val m2 = value._3
+    val m3 = value._4
+    val s = m0 + m1 + m2 + m3
+    val i = (m0 - m2) / s
+    val j = (m1 - m3) / s
+    val x = 0.5 * (i - j)
+    val y = 0.5 * (-i - j)
+    SvgInstrument.translate(position, (x * 50).toInt, (y * 50).toInt)
+  }
+}
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/panels/Communication.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/panels/Communication.scala
new file mode 100644
index 0000000..dd43ab4
--- /dev/null
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/panels/Communication.scala
@@ -0,0 +1,106 @@
+package vfd.dashboard.ui.panels
+
+import org.mavlink.messages.Heartbeat
+import org.mavlink.messages.Motor
+import org.mavlink.messages.Power
+import org.scalajs.dom.HTMLElement
+import rx.core.Obs
+import scalatags.JsDom.all.bindNode
+import scalatags.JsDom.all.`class`
+import scalatags.JsDom.all.div
+import scalatags.JsDom.all.stringAttr
+import scalatags.JsDom.all.table
+import scalatags.JsDom.all.tbody
+import scalatags.JsDom.all.td
+import scalatags.JsDom.all._
+import vfd.dashboard.Environment
+import vfd.dashboard.MavlinkSocket
+import vfd.dashboard.ui.components.Generic
+import vfd.dashboard.ui.components.Balance
+import vfd.dashboard.ui.components.Bar
+import vfd.dashboard.ui.components.Led
+
+object Communication {
+
+  def apply(socket: MavlinkSocket)(implicit app: Environment): HTMLElement = {
+
+    val hb = i(`class` := "fa fa-heart heartbeat").render
+    
+    def foo() = {
+      hb.textContent = ""
+    }
+
+    val motor0 = new Generic(0, 50, 100, "%")
+    val motor1 = new Generic(0, 50, 100, "%")
+    val motor2 = new Generic(0, 50, 100, "%")
+    val motor3 = new Generic(0, 50, 100, "%")
+    val powerDistribution = new Balance()
+    val batteryLevel = new Bar()
+
+    Obs(socket.message, skipInitial = true) {
+      socket.message() match {
+        case Motor(m0, m1, m2, m3) =>
+          motor0.update(m0)
+          motor1.update(m1)
+          motor2.update(m2)
+          motor3.update(m3)
+          powerDistribution.update(m0, m1, m2, m3)
+
+        case Power(mV) =>
+          batteryLevel.update(100 * (mV - 9600) / 12600)
+        case Heartbeat(_) => {
+          hb.style.visibility = "hidden"
+          hb.style.visibility = "visible"
+          //hb.classList.remove("heartbeat")
+          //hb.offsetHeight
+          //hb.classList.add("heartbeat")
+        }
+        case _ =>
+      }
+    }
+
+    div(
+      table(`class` := "table")(
+        thead("Communication"),
+        tbody(
+          tr(
+            td("Conn"),
+            div(width := "20px")(td((new Led()).element)),
+            td("Server"),
+            td("5 ms")),
+          tr(
+            td("Uplink"),
+            td("-20 dBm"),
+            td("Heartbeat"),
+            td(hb)))),
+      table(`class` := "table-instrument", style := "height: 100px")(
+        tbody(
+          tr(
+            td(),
+            td(),
+            td(),
+            td(),
+            td(),
+            td(),
+            td(),
+            td(),
+            td(),
+            td(batteryLevel.element)))),
+        table (`class` := "table-instrument")(
+          thead("Motors"),
+          tbody(
+            tr(
+              td(motor0.element),
+              td(),
+              td(motor1.element)),
+            tr(
+              td(),
+              td(powerDistribution.element),
+              td()),
+            tr(
+              td(motor2.element),
+              td(),
+              td(motor3.element))))).render
+  }
+
+}
\ No newline at end of file
diff --git a/vfd-dashboard/src/main/scala/vfd/dashboard/ui/panels/Primary.scala b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/panels/Primary.scala
new file mode 100644
index 0000000..14b26f6
--- /dev/null
+++ b/vfd-dashboard/src/main/scala/vfd/dashboard/ui/panels/Primary.scala
@@ -0,0 +1,46 @@
+package vfd.dashboard.ui.panels
+
+import org.mavlink.messages.Attitude
+import org.scalajs.dom.HTMLElement
+
+import rx.core.Obs
+import scalatags.JsDom.all.bindNode
+import scalatags.JsDom.all.`class`
+import scalatags.JsDom.all.stringAttr
+import scalatags.JsDom.all.table
+import scalatags.JsDom.all.tbody
+import scalatags.JsDom.all.td
+import scalatags.JsDom.all.tr
+import vfd.dashboard.Environment
+import vfd.dashboard.MavlinkSocket
+import vfd.dashboard.ui.components.Altimeter
+import vfd.dashboard.ui.components.Compass
+import vfd.dashboard.ui.components.Horizon
+
+object Primary {
+
+  def apply(socket: MavlinkSocket)(implicit env: Environment): HTMLElement = {
+
+    val compass = new Compass
+    val horizon = new Horizon
+    val altimeter = new Altimeter
+
+    Obs(socket.message, skipInitial = true) {
+      socket.message() match {
+        case Attitude(roll, pitch, yaw) =>
+          horizon.update(pitch, roll)
+          compass.update(yaw)
+        case _ => ()
+      }
+    }
+
+    table(`class` := "table-instrument")(
+      tbody(
+        tr(
+          td(compass.element),
+          td(horizon.element),
+          td(altimeter.element)))).render
+
+  }
+
+}
\ No newline at end of file